IT201700102369A1 - Sistema per il controllo di frenatura di servizio e di emergenza per almeno un veicolo ferroviario. - Google Patents

Sistema per il controllo di frenatura di servizio e di emergenza per almeno un veicolo ferroviario.

Info

Publication number
IT201700102369A1
IT201700102369A1 IT102017000102369A IT201700102369A IT201700102369A1 IT 201700102369 A1 IT201700102369 A1 IT 201700102369A1 IT 102017000102369 A IT102017000102369 A IT 102017000102369A IT 201700102369 A IT201700102369 A IT 201700102369A IT 201700102369 A1 IT201700102369 A1 IT 201700102369A1
Authority
IT
Italy
Prior art keywords
service
control system
railway vehicle
braking control
emergency braking
Prior art date
Application number
IT102017000102369A
Other languages
English (en)
Inventor
Roberto Tione
Matteo Frea
Luc Imbert
Original Assignee
Faiveley Transport Italia Spa
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=61006125&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=IT201700102369(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Faiveley Transport Italia Spa filed Critical Faiveley Transport Italia Spa
Priority to IT102017000102369A priority Critical patent/IT201700102369A1/it
Priority to PCT/IB2018/056951 priority patent/WO2019053599A1/en
Priority to JP2020514272A priority patent/JP7387586B2/ja
Priority to RU2020111085A priority patent/RU2766466C2/ru
Priority to ES18783575T priority patent/ES2904982T3/es
Priority to EP18783575.6A priority patent/EP3681772B1/en
Priority to HUE18783575A priority patent/HUE057775T2/hu
Priority to CN201880059281.4A priority patent/CN111417552B/zh
Priority to US16/646,413 priority patent/US11654876B2/en
Publication of IT201700102369A1 publication Critical patent/IT201700102369A1/it

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/126—Brakes for railway vehicles coming into operation in case of exceeding a predetermined speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3235—Systems specially adapted for rail vehicles
    • B60T8/3245—Systems specially adapted for rail vehicles responsive to the speed difference between wheels and rail, or between two wheels or two axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/58—Combined or convertible systems
    • B60T13/585—Combined or convertible systems comprising friction brakes and retarders
    • B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/665—Electrical control in fluid-pressure brake systems the systems being specially adapted for transferring two or more command signals, e.g. railway systems
    • B60T13/667—Electrical control in fluid-pressure brake systems the systems being specially adapted for transferring two or more command signals, e.g. railway systems and combined with electro-magnetic brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
    • B60T8/17636—Microprocessor-based systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
    • B60T8/1893—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution especially adapted for railway vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/72—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to a difference between a speed condition, e.g. deceleration, and a fixed reference
    • B60T8/74—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to a difference between a speed condition, e.g. deceleration, and a fixed reference sensing a rate of change of velocity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/02—Vehicle mass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/10—ABS control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B60T2270/604—Merging friction therewith; Adjusting their repartition

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
IT102017000102369A 2017-09-13 2017-09-13 Sistema per il controllo di frenatura di servizio e di emergenza per almeno un veicolo ferroviario. IT201700102369A1 (it)

Priority Applications (9)

Application Number Priority Date Filing Date Title
IT102017000102369A IT201700102369A1 (it) 2017-09-13 2017-09-13 Sistema per il controllo di frenatura di servizio e di emergenza per almeno un veicolo ferroviario.
PCT/IB2018/056951 WO2019053599A1 (en) 2017-09-13 2018-09-12 SERVICE AND EMERGENCY BRAKE CONTROL SYSTEM FOR AT LEAST ONE RAIL VEHICLE
JP2020514272A JP7387586B2 (ja) 2017-09-13 2018-09-12 少なくとも１つの鉄道車両用の常用及び非常ブレーキ制御システム
RU2020111085A RU2766466C2 (ru) 2017-09-13 2018-09-12 Система управления рабочим и экстренным торможением для по меньшей мере одного железнодорожного транспортного средства
ES18783575T ES2904982T3 (es) 2017-09-13 2018-09-12 Sistema de control de frenado y de emergencia para al menos un vehículo ferroviario
EP18783575.6A EP3681772B1 (en) 2017-09-13 2018-09-12 Service and emergency braking control system for at least one railway vehicle
HUE18783575A HUE057775T2 (hu) 2017-09-13 2018-09-12 Karbantartó és vészfékezést szabályozó rendszer legalább egy vasúti jármûhöz
CN201880059281.4A CN111417552B (zh) 2017-09-13 2018-09-12 用于至少一个铁路车辆的行车和紧急制动控制系统
US16/646,413 US11654876B2 (en) 2017-09-13 2018-09-12 Braking control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102017000102369A IT201700102369A1 (it) 2017-09-13 2017-09-13 Sistema per il controllo di frenatura di servizio e di emergenza per almeno un veicolo ferroviario.

Publications (1)

Publication Number Publication Date
IT201700102369A1 true IT201700102369A1 (it) 2019-03-13

Family

ID=61006125

Family Applications (1)

Application Number Title Priority Date Filing Date
IT102017000102369A IT201700102369A1 (it) 2017-09-13 2017-09-13 Sistema per il controllo di frenatura di servizio e di emergenza per almeno un veicolo ferroviario.

Country Status (9)

Country Link
US (1) US11654876B2 (it)
EP (1) EP3681772B1 (it)
JP (1) JP7387586B2 (it)
CN (1) CN111417552B (it)
ES (1) ES2904982T3 (it)
HU (1) HUE057775T2 (it)
IT (1) IT201700102369A1 (it)
RU (1) RU2766466C2 (it)
WO (1) WO2019053599A1 (it)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3681772B1 (en) 2017-09-13 2021-11-10 Faiveley Transport Italia S.p.A. Service and emergency braking control system for at least one railway vehicle

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Publication number Priority date Publication date Assignee Title
EA202192562A1 (ru) * 2019-04-30 2022-03-01 Файвеле Транспорт Италиа С.П.А. Система контроля вращения по меньшей мере одной оси для железнодорожного транспортного средства или поезда
US12162520B2 (en) * 2020-05-29 2024-12-10 Mitsubishi Electric Corporation Electric vehicle control device, train control system, and ground device
CN112519736B (zh) * 2020-11-25 2021-12-14 湖北三环智能科技有限公司 一种重载智能运输车智能制动方法及系统
JP7606356B2 (ja) * 2021-02-02 2024-12-25 ナブテスコ株式会社 鉄道車両用ブレーキ制御装置、鉄道車両用ブレーキ装置
CN115214592B (zh) * 2022-07-13 2024-05-10 北京主导时代科技有限公司 一种轨道车辆制动机检测装置
DE102022119956A1 (de) 2022-08-09 2024-02-15 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Regelung von Schienenfahrzeugparametern mit lokalen Reglern
WO2024049838A1 (en) * 2022-08-31 2024-03-07 Tesla, Inc. Brake temperature based speed-controlling
CN116080613B (zh) * 2023-04-13 2023-06-16 成都壹为新能源汽车有限公司 一种机车备用紧急制动系统
WO2025012846A1 (en) * 2023-07-11 2025-01-16 Faiveley Transport Italia S.P.A. Calibration method of a braking system of at least one vehicle, calibration system, braking system and vehicle

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US4936610A (en) * 1989-03-15 1990-06-26 Tranergy Corporation Differential creepage control system for optimizing adhesion of locomotives
US5775228A (en) * 1997-04-14 1998-07-07 General Motors Corporation Locomotive adhesion enhancing slipping discs
US20040075280A1 (en) * 2002-10-18 2004-04-22 General Electric Company Railway train friction management and control system and method
EP1473485A2 (en) * 2003-04-04 2004-11-03 Bombardier Transportation GmbH Reducing counter-phase vibrations
US20070001629A1 (en) * 2005-06-30 2007-01-04 Mcgarry Jeremy T System and method for locomotive adhesion control
EP2648949A1 (de) * 2010-12-08 2013-10-16 KNORR-BREMSE Systeme für Schienenfahrzeuge GmbH Verfahren zur steuerung einer gleitschutzgeregelten reibungsbremsanlage eines schienenfahrzeugs
WO2017109690A1 (en) * 2015-12-22 2017-06-29 Faiveley Transport Italia S.P.A. Method for controlling and recovering the adhesion of the wheels of a controlled axle of a railway vehicle

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Publication number Priority date Publication date Assignee Title
EP3681772B1 (en) 2017-09-13 2021-11-10 Faiveley Transport Italia S.p.A. Service and emergency braking control system for at least one railway vehicle

Also Published As

Publication number Publication date
JP7387586B2 (ja) 2023-11-28
WO2019053599A1 (en) 2019-03-21
RU2020111085A3 (it) 2021-11-25
CN111417552A (zh) 2020-07-14
HUE057775T2 (hu) 2022-06-28
RU2766466C2 (ru) 2022-03-15
US20200269823A1 (en) 2020-08-27
EP3681772A1 (en) 2020-07-22
JP2020533228A (ja) 2020-11-19
CN111417552B (zh) 2022-06-28
RU2020111085A (ru) 2021-10-13
US11654876B2 (en) 2023-05-23
EP3681772B1 (en) 2021-11-10
ES2904982T3 (es) 2022-04-06

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